# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
-0.064192

# Root(pelvis)
0 1.028073 0
0.999887 0.005204 -0.000000 -0.014134
0.196684 -0.207078 1.994221
-1.909339 -0.868644 0.063939

# pelvis_torso
0.995232 0.077698 0.058765 0.004809
0.746530 0.644148 0.160925

# lHip
0.966009 -0.256666 0.028023 -0.012775
5.441161 0.405883 0.129352

# rHip
0.996245 -0.070943 -0.033274 0.036822
0.614001 0.507465 -0.543904

# torso_head
0.999254 0.005283 -0.035786 0.013541
1.612723 0.176553 -0.335860

# lShoulder
0.645977 0.315118 0.032496 -0.694520
1.436060 0.067965 -0.061398

# rShoulder
0.723404 0.082994 0.111908 0.676222
0.081787 0.355873 0.107061

# lKnee
0.947134 0.320839 0.000001 0.000001
-6.332421 0.000212 0.000833

# rKnee
0.924709 0.380676 0.000000 -0.000001
3.985868 0.000423 -0.000205

# lElbow
0.491617 0.000000 -0.870812 0.000000
-0.000025 -1.361164 0.000054

# rElbow
0.653917 0.000000 0.756566 -0.000000
-0.000009 0.531772 -0.000003

# lAnkle
0.971108 -0.238639 -0.000318 0.001296
-3.569618 -0.009147 -0.037130

# rAnkle
0.963515 0.266645 -0.006191 -0.022371
8.641896 -0.401708 0.403153

# lToeJoint
0.980496 -0.196538 0.000000 0.000000
-0.757523 0.000036 0.000090

# rToeJoint
0.966390 -0.257081 -0.000000 0.000000
-0.000000 0.000000 -0.000000

